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Holybro Pixhawk 6X

by Holybro

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Pixhawk 6X ships as a core module paired with selectable baseboards for different payload integrations.

Holybro Pixhawk 6X modular cube flight controller mounted on its baseboard.

Key Specifications

MCU

STM32H753

Mounting Pattern

Cube Carrier Board

Connectivity

8 UARTs • 2 I²C • 2 CAN

Power

4.9–5.5 V • Power Module

Onboard Sensors

3× IMU • 2× Barometer • 1× Magnetometer

Firmware Support

ArduPilot

PX4 Autopilot

Reference Docs

Image: Holybro Store ↗

Detailed Specifications

Core Specifications

Quick reference for the primary hardware capabilities.

MCU	STM32H753 STM32H753xI/G data sheet	Mounting	Cube Carrier Board
Power	4.9–5.5 V • Power Module	I/O Overview	8 UARTs • 2 I²C • 2 CAN
PWM & Storage	16 PWM outputs • microSD logging	Sensors	3× IMU • 2× Barometer • 1× Magnetometer

Hardware revision

Hardware Overview

Core MCU, mounting, and mechanical data.

Base hardware specification

Default

MCU	STM32H753 STM32H753xI/G data sheet	Mounting	Cube Carrier Board
Dimensions	31.8 × 38.8 × 14.6 mm	Weight	23g

Power Supply

Input rails, regulators, and redundancy.

Voltage —

Inputs 3

Redundancy Redundant

Power Inputs

POWER1 Power Module

Connector: 6-pin power monitor

Voltage: 4.9–5.5 V

POWER2 Power Module

Connector: 6-pin power monitor

Voltage: 4.9–5.5 V

USB USB

Connector: USB Type-C

Voltage: 4.75–5.25 V

Input Voltage

—

Redundancy

✓ Yes

Max input 6V on power ports with servo rail tolerance to 36V; triple-redundant POWER1/POWER2/USB inputs.

Connectivity & I/O

Port availability, buses, and expansion options.

UARTs	8	CAN Bus	2
PWM Outputs	16	SD Card	✓ Yes
Ethernet	✓ Yes

Peripheral Ports

Port	Type	Default Function	Voltage / Level	Connector	Notes
TELEM1	UART	MAVLink telemetry (primary)	3.3 V signal / 5 V supply	JST-GH 6-pin	Shared 5 V regulator with TELEM2; supports hardware flow control.
TELEM2	UART	Companion computer or RTK corrections	3.3 V signal / 5 V supply	JST-GH 6-pin	Ideal for high-bandwidth MAVLink or RTK radios.
TELEM3	UART	Payload or scripting UART	3.3 V signal	JST-GH 6-pin	Routed through carrier board; configurable via SERIAL3 parameters.
TELEM4	UART	Secondary telemetry	3.3 V signal	JST-GH 6-pin	Shares power rail with TELEM3; supports TTL-level peripherals only.
TELEM5	UART	Debug console / ESC telemetry	3.3 V signal	JST-GH 6-pin	Labeled "FMU Debug" on carrier; defaults to system console in PX4.
GPS1	GPS	Primary GPS/compass/safety switch	3.3 V signal / 5 V supply	JST-GH 10-pin	Combined connector with safety switch, buzzer, and I2C compass harness.
GPS2	GPS	Secondary GPS	3.3 V signal / 5 V supply	JST-GH 6-pin	Secondary navigation receiver header for redundancy or RTK base station links.
CAN1	CAN	DroneCAN peripheral bus	Differential CAN / 5 V supply	JST-GH 4-pin	Powered CAN-FD port for smart power modules, ESCs, or payloads.
CAN2	CAN	Redundant CAN-FD bus	Differential CAN / 5 V supply	JST-GH 4-pin	Second CAN interface supporting ESC RX-MUX and payload networks.
I2C1	I2C	Auxiliary sensor bus	3.3 V	JST-GH 4-pin	External I2C lines for airspeed sensors, compasses, or LED expanders.
POWER1	Power	Primary power module	4.9-5.5 V	6-pin power monitor	Supplies regulated 5 V and SMBus telemetry from the first power module.
POWER2	Power	Secondary power module	4.9-5.5 V	6-pin power monitor	Provides redundant power and SMBus battery data when paired with a second module.
SERVO RAIL	Power	PWM servo supply	0-36 V tolerant	Servo breakout	High-voltage tolerant rail powering PWM outputs independently from FMU logic.
FMU PWM OUT (1-8)	PWM	Primary motor outputs	Servo rail (0-36 V tolerant)	Servo breakout bank A	FMU-controlled DShot/PWM outputs grouped for synchronous signaling.
IO PWM OUT (9-16)	PWM	Auxiliary PWM outputs	Servo rail (0-36 V tolerant)	Servo breakout bank B	IOMCU-managed outputs for additional motors, gear, or payload servos.
RCIN	RC	Serial RC or PPM input	3.3 V signal / 5 V supply	JST-GH 6-pin	Supports SBUS, DSM, FPort, CRSF, and PPM receiver connections.
S.BUS OUT / RSSI	RC	S.Bus out and analog RSSI	3.3 V signal	JST harness	Provides redundant receiver output and RSSI monitoring for ground stations.
USB-C	USB	Console and firmware updates	5 V	USB Type-C	Primary configuration interface and bootloader access.
Ethernet	Ethernet	100 Mbps companion link	3.3 V logic	RJ45 breakout	On supported carrier boards, exposes the integrated Ethernet PHY for companion computers.
I2C Expansion (UART breakout)	I2C	Additional I2C via TELEM3/4 harness	3.3 V	JST-GH 6-pin shared	TELEM3/4 harness exposes SCL/SDA pins for auxiliary digital sensors.
Buzzer/Safety	Other	External safety switch and buzzer	5 V supply	JST harness	Combined harness powering the safety switch, RGB LED, and high-output buzzer module.
TELEM6	UART	Auxiliary telemetry / SBUS out	3.3 V signal	JST-GH 6-pin	Supports serial RC protocols or additional MAVLink link.
GPS1	GPS	Primary GNSS + compass + safety switch	5 V supply / 3.3 V I2C	JST-GH 10-pin	Carries I2C for compass and safety switch passthrough.
GPS2	GPS	Redundant GNSS + compass	5 V supply / 3.3 V I2C	JST-GH 6-pin	Provides backup GPS with integrated I2C lines.
I2C1	I2C	Magnetometer / Airspeed bus	3.3 V	JST-GH 4-pin	Shares bus with GPS headers; do not mix 5 V I2C devices.
I2C2	I2C	External sensors expansion	3.3 V	JST-GH 4-pin	Routed to carrier board expansion header for payload sensors.
CAN1	CAN	DroneCAN node bus	5 V accessory power	JST-GH 4-pin	Provides regulated 5 V for smart peripherals up to 1 A shared.
CAN2	CAN	Redundant DroneCAN bus	5 V accessory power	JST-GH 4-pin	Isolated from CAN1 for dual-redundant power modules.
POWER1	Power	Primary power module input	4.9–5.5 V	6-pin power monitor	Supports Holybro PM06/PM07 modules with SMBus telemetry.
POWER2	Power	Redundant power module input	4.9–5.5 V	6-pin power monitor	Backup BEC feed with current/voltage sense.
USB-C	USB	Console / firmware update	5 V USB	USB Type-C	Supplies cube when no external BEC is present; limited to 1 A.
RCIN/SBUS	RC	Serial RC receiver input	3.3 V signal / 5 V supply	JST-GH 6-pin	Compatible with SBUS, CRSF, and DSM protocols via configuration.

UARTs	8	CAN Bus	2
PWM Outputs	16	SD Card	✓ Yes
Ethernet	✓ Yes

Peripheral Ports

Port	Type	Default Function	Voltage / Level	Connector	Notes
TELEM1	UART	MAVLink telemetry (primary)	3.3 V signal / 5 V supply	JST-GH 6-pin	Shared 5 V regulator with TELEM2; supports hardware flow control.
TELEM2	UART	Companion computer or RTK corrections	3.3 V signal / 5 V supply	JST-GH 6-pin	Ideal for high-bandwidth MAVLink or RTK radios.
TELEM3	UART	Payload or scripting UART	3.3 V signal	JST-GH 6-pin	Routed through carrier board; configurable via SERIAL3 parameters.
TELEM4	UART	Secondary telemetry	3.3 V signal	JST-GH 6-pin	Shares power rail with TELEM3; supports TTL-level peripherals only.
TELEM5	UART	Debug console / ESC telemetry	3.3 V signal	JST-GH 6-pin	Labeled "FMU Debug" on carrier; defaults to system console in PX4.
GPS1	GPS	Primary GPS/compass/safety switch	3.3 V signal / 5 V supply	JST-GH 10-pin	Combined connector with safety switch, buzzer, and I2C compass harness.
GPS2	GPS	Secondary GPS	3.3 V signal / 5 V supply	JST-GH 6-pin	Secondary navigation receiver header for redundancy or RTK base station links.
CAN1	CAN	DroneCAN peripheral bus	Differential CAN / 5 V supply	JST-GH 4-pin	Powered CAN-FD port for smart power modules, ESCs, or payloads.
CAN2	CAN	Redundant CAN-FD bus	Differential CAN / 5 V supply	JST-GH 4-pin	Second CAN interface supporting ESC RX-MUX and payload networks.
I2C1	I2C	Auxiliary sensor bus	3.3 V	JST-GH 4-pin	External I2C lines for airspeed sensors, compasses, or LED expanders.
POWER1	Power	Primary power module	4.9-5.5 V	6-pin power monitor	Supplies regulated 5 V and SMBus telemetry from the first power module.
POWER2	Power	Secondary power module	4.9-5.5 V	6-pin power monitor	Provides redundant power and SMBus battery data when paired with a second module.
SERVO RAIL	Power	PWM servo supply	0-36 V tolerant	Servo breakout	High-voltage tolerant rail powering PWM outputs independently from FMU logic.
FMU PWM OUT (1-8)	PWM	Primary motor outputs	Servo rail (0-36 V tolerant)	Servo breakout bank A	FMU-controlled DShot/PWM outputs grouped for synchronous signaling.
IO PWM OUT (9-16)	PWM	Auxiliary PWM outputs	Servo rail (0-36 V tolerant)	Servo breakout bank B	IOMCU-managed outputs for additional motors, gear, or payload servos.
RCIN	RC	Serial RC or PPM input	3.3 V signal / 5 V supply	JST-GH 6-pin	Supports SBUS, DSM, FPort, CRSF, and PPM receiver connections.
S.BUS OUT / RSSI	RC	S.Bus out and analog RSSI	3.3 V signal	JST harness	Provides redundant receiver output and RSSI monitoring for ground stations.
USB-C	USB	Console and firmware updates	5 V	USB Type-C	Primary configuration interface and bootloader access.
Ethernet	Ethernet	100 Mbps companion link	3.3 V logic	RJ45 breakout	On supported carrier boards, exposes the integrated Ethernet PHY for companion computers.
I2C Expansion (UART breakout)	I2C	Additional I2C via TELEM3/4 harness	3.3 V	JST-GH 6-pin shared	TELEM3/4 harness exposes SCL/SDA pins for auxiliary digital sensors.
Buzzer/Safety	Other	External safety switch and buzzer	5 V supply	JST harness	Combined harness powering the safety switch, RGB LED, and high-output buzzer module.
TELEM6	UART	Auxiliary telemetry / SBUS out	3.3 V signal	JST-GH 6-pin	Supports serial RC protocols or additional MAVLink link.
GPS1	GPS	Primary GNSS + compass + safety switch	5 V supply / 3.3 V I2C	JST-GH 10-pin	Carries I2C for compass and safety switch passthrough.
GPS2	GPS	Redundant GNSS + compass	5 V supply / 3.3 V I2C	JST-GH 6-pin	Provides backup GPS with integrated I2C lines.
I2C1	I2C	Magnetometer / Airspeed bus	3.3 V	JST-GH 4-pin	Shares bus with GPS headers; do not mix 5 V I2C devices.
I2C2	I2C	External sensors expansion	3.3 V	JST-GH 4-pin	Routed to carrier board expansion header for payload sensors.
CAN1	CAN	DroneCAN node bus	5 V accessory power	JST-GH 4-pin	Provides regulated 5 V for smart peripherals up to 1 A shared.
CAN2	CAN	Redundant DroneCAN bus	5 V accessory power	JST-GH 4-pin	Isolated from CAN1 for dual-redundant power modules.
POWER1	Power	Primary power module input	4.9–5.5 V	6-pin power monitor	Supports Holybro PM06/PM07 modules with SMBus telemetry.
POWER2	Power	Redundant power module input	4.9–5.5 V	6-pin power monitor	Backup BEC feed with current/voltage sense.
USB-C	USB	Console / firmware update	5 V USB	USB Type-C	Supplies cube when no external BEC is present; limited to 1 A.
RCIN/SBUS	RC	Serial RC receiver input	3.3 V signal / 5 V supply	JST-GH 6-pin	Compatible with SBUS, CRSF, and DSM protocols via configuration.

UARTs	8	CAN Bus	2
PWM Outputs	16	SD Card	✓ Yes
Ethernet	✓ Yes

Peripheral Ports

Port	Type	Default Function	Voltage / Level	Connector	Notes
TELEM1	UART	MAVLink telemetry (primary)	3.3 V signal / 5 V supply	JST-GH 6-pin	Shared 5 V regulator with TELEM2; supports hardware flow control.
TELEM2	UART	Companion computer or RTK corrections	3.3 V signal / 5 V supply	JST-GH 6-pin	Ideal for high-bandwidth MAVLink or RTK radios.
TELEM3	UART	Payload or scripting UART	3.3 V signal	JST-GH 6-pin	Routed through carrier board; configurable via SERIAL3 parameters.
TELEM4	UART	Secondary telemetry	3.3 V signal	JST-GH 6-pin	Shares power rail with TELEM3; supports TTL-level peripherals only.
TELEM5	UART	Debug console / ESC telemetry	3.3 V signal	JST-GH 6-pin	Labeled "FMU Debug" on carrier; defaults to system console in PX4.
GPS1	GPS	Primary GPS/compass/safety switch	3.3 V signal / 5 V supply	JST-GH 10-pin	Combined connector with safety switch, buzzer, and I2C compass harness.
GPS2	GPS	Secondary GPS	3.3 V signal / 5 V supply	JST-GH 6-pin	Secondary navigation receiver header for redundancy or RTK base station links.
CAN1	CAN	DroneCAN peripheral bus	Differential CAN / 5 V supply	JST-GH 4-pin	Powered CAN-FD port for smart power modules, ESCs, or payloads.
CAN2	CAN	Redundant CAN-FD bus	Differential CAN / 5 V supply	JST-GH 4-pin	Second CAN interface supporting ESC RX-MUX and payload networks.
I2C1	I2C	Auxiliary sensor bus	3.3 V	JST-GH 4-pin	External I2C lines for airspeed sensors, compasses, or LED expanders.
POWER1	Power	Primary power module	4.9-5.5 V	6-pin power monitor	Supplies regulated 5 V and SMBus telemetry from the first power module.
POWER2	Power	Secondary power module	4.9-5.5 V	6-pin power monitor	Provides redundant power and SMBus battery data when paired with a second module.
SERVO RAIL	Power	PWM servo supply	0-36 V tolerant	Servo breakout	High-voltage tolerant rail powering PWM outputs independently from FMU logic.
FMU PWM OUT (1-8)	PWM	Primary motor outputs	Servo rail (0-36 V tolerant)	Servo breakout bank A	FMU-controlled DShot/PWM outputs grouped for synchronous signaling.
IO PWM OUT (9-16)	PWM	Auxiliary PWM outputs	Servo rail (0-36 V tolerant)	Servo breakout bank B	IOMCU-managed outputs for additional motors, gear, or payload servos.
RCIN	RC	Serial RC or PPM input	3.3 V signal / 5 V supply	JST-GH 6-pin	Supports SBUS, DSM, FPort, CRSF, and PPM receiver connections.
S.BUS OUT / RSSI	RC	S.Bus out and analog RSSI	3.3 V signal	JST harness	Provides redundant receiver output and RSSI monitoring for ground stations.
USB-C	USB	Console and firmware updates	5 V	USB Type-C	Primary configuration interface and bootloader access.
Ethernet	Ethernet	100 Mbps companion link	3.3 V logic	RJ45 breakout	On supported carrier boards, exposes the integrated Ethernet PHY for companion computers.
I2C Expansion (UART breakout)	I2C	Additional I2C via TELEM3/4 harness	3.3 V	JST-GH 6-pin shared	TELEM3/4 harness exposes SCL/SDA pins for auxiliary digital sensors.
Buzzer/Safety	Other	External safety switch and buzzer	5 V supply	JST harness	Combined harness powering the safety switch, RGB LED, and high-output buzzer module.
TELEM6	UART	Auxiliary telemetry / SBUS out	3.3 V signal	JST-GH 6-pin	Supports serial RC protocols or additional MAVLink link.
GPS1	GPS	Primary GNSS + compass + safety switch	5 V supply / 3.3 V I2C	JST-GH 10-pin	Carries I2C for compass and safety switch passthrough.
GPS2	GPS	Redundant GNSS + compass	5 V supply / 3.3 V I2C	JST-GH 6-pin	Provides backup GPS with integrated I2C lines.
I2C1	I2C	Magnetometer / Airspeed bus	3.3 V	JST-GH 4-pin	Shares bus with GPS headers; do not mix 5 V I2C devices.
I2C2	I2C	External sensors expansion	3.3 V	JST-GH 4-pin	Routed to carrier board expansion header for payload sensors.
CAN1	CAN	DroneCAN node bus	5 V accessory power	JST-GH 4-pin	Provides regulated 5 V for smart peripherals up to 1 A shared.
CAN2	CAN	Redundant DroneCAN bus	5 V accessory power	JST-GH 4-pin	Isolated from CAN1 for dual-redundant power modules.
POWER1	Power	Primary power module input	4.9–5.5 V	6-pin power monitor	Supports Holybro PM06/PM07 modules with SMBus telemetry.
POWER2	Power	Redundant power module input	4.9–5.5 V	6-pin power monitor	Backup BEC feed with current/voltage sense.
USB-C	USB	Console / firmware update	5 V USB	USB Type-C	Supplies cube when no external BEC is present; limited to 1 A.
RCIN/SBUS	RC	Serial RC receiver input	3.3 V signal / 5 V supply	JST-GH 6-pin	Compatible with SBUS, CRSF, and DSM protocols via configuration.

Onboard Sensors

IMU, barometer, and magnetometer load-outs per revision.

Additional Features

Value-add capabilities bundled with the controller.

✓ Ethernet companion computer link
✓ Modular baseboard ecosystem
✓ Triple-redundant inertial sensing

Quick Reference

Firmware Support
ArduPilot	Stable
PX4 Autopilot	Stable
Information
Verification	Community
Hardware	Open
Updated	2025-10-13
Sources	5
Manufacturer	Holybro →

Hardware Revisions

ICM-45686 Edition

Holybro's product page highlights the Pixhawk 6X variant with the InvenSense ICM-45686 IMU set.

• Replaces the BMI088/ICM20649/ICM42688P stack with triple ICM-45686 IMUs and tuned vibration filtering.

Sensor overrides

Pixhawk 6X Flight Controller — Holybro ↗ Pixhawk 6X — PX4 User Guide ↗

Rev A

ArduPilot's Pixhawk 6X guide documents the initial production hardware configuration.

• Initial production release with BMI088, ICM20649, and ICM42688P inertial sensors.

Holybro Pixhawk 6X — ArduPilot Hardware Overview ↗

Known Issues & Advisories

Pixhawk 6X Rev8 reports dead TELEM1 on PX4 1.14 builds

Multiple Pixhawk 6X Rev8 units shipped with PX4 1.14.x exhibit a non-functional TELEM1 port, RC input failures, and motors that refuse to arm until firmware is downgraded.

High

Reported Aug 7, 2024

Source Pixhawk 6x Rev8 Bugs

Affects

Controller Platform

BMI088 I²C driver produces unstable gyro data

PX4's bmi088_i2c driver reports severe gyro jitter and unusable orientation on Crazyflie and other I²C-based boards.

Medium

Reported May 8, 2024

Source BMI088 connected via I2C does not work right

Affects Bosch Sensortec BMI088

Onboard IMU

Documentation & Vendor Resources

Edit on GitHub

Propose improvements to this controller entry.

↗

Contributors: Jairus

Last updated: Oct 29, 2025

View History

IMU	Bosch Sensortec BMI088 Bosch Sensortec BMI088 datasheet CUAV Pixhawk V6X — ArduPilot Hardware Overview Pixhawk 6X — PX4 User Guide CUAV Pixhawk V6X — ArduPilot Hardware Overview TDK InvenSense ICM-20649 TDK InvenSense ICM-20649 datasheet Cube Orange+ — PX4 User Guide TDK InvenSense ICM-42688-P TDK InvenSense ICM-42688-P datasheet Cube Orange+ — PX4 User Guide
Barometer	Bosch Sensortec BMP388 Bosch Sensortec BMP388 datasheet Pixhawk 6X — PX4 User Guide Pixhawk 6X Flight Controller — Holybro TDK InvenSense ICP-20100 TDK InvenSense ICP-20100 datasheet CUAV Pixhawk V6X — ArduPilot Hardware Overview CUAV Pixhawk V6X — ArduPilot Hardware Overview
Magnetometer	Bosch Sensortec BMM150 Bosch Sensortec BMM150 datasheet Pixhawk 6X — PX4 User Guide

IMU	TDK InvenSense ICM-45686 ×3 TDK InvenSense ICM-45686 datasheet Pixhawk 6X Flight Controller — Holybro
Barometer	Bosch Sensortec BMP388 Bosch Sensortec BMP388 datasheet Pixhawk 6X — PX4 User Guide Pixhawk 6X Flight Controller — Holybro TDK InvenSense ICP-20100 TDK InvenSense ICP-20100 datasheet CUAV Pixhawk V6X — ArduPilot Hardware Overview CUAV Pixhawk V6X — ArduPilot Hardware Overview
Magnetometer	Bosch Sensortec BMM150 Bosch Sensortec BMM150 datasheet Pixhawk 6X — PX4 User Guide